The Princess of Wales performed a double curtsy as she greeted the King and Queen at the start of the German state visit on Wednesday. Prince William and Kate performed their ceremonial duties as they welcomed President Frank-Walter Steinmeier and his wife, Elke Budenbender, at Heathrow airport, before travelling to Windsor Castle.

The couple were met by Charles and Camilla on a royal dais outside Windsor and Eton Riverside train station, with the famous castle as the backdrop. After Their Majesties exchanged pleasantries with the President and First Lady, William and Kate stepped forward, with the Princess executing the perfect double curtsy, one for the King and then, in case Camilla had not seen her, another for the Queen. Watch above.

In an affectionate gesture, the Queen gr

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